Is there any way to water-proof a circuit?
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Anywhere non-moving parts, such as wiring, has to go through the body, you will need to make a hole just large enough, pass the part through, secure the part on both sides, and then seal it with the part in place.
Anywhere moving parts have to go through the body, such as for a propeller, you need gaskets. If you're going more than a couple of feet underwater, you'll probably have to use the positive pressure to keep water out. The whole thing gets tough and complicated so to avoid this issue entirely, use moving parts that were factory-made to get wet.
See this instructable, they discuss the use of bilge pumps as thrusters as well as a lot of other helpful stuff. :
http://www.instructables.com/id/Underwater_ROV/
http://www.instructables.com/id/Underwater_ROV/
awesome example.
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